Moved math library to library dir, improved sensor-level HIL, cleaned up geo / conversion libs

1 files changed, 0 insertions, 97 deletions

diff --git a/src/modules/systemlib/conversions.c b/src/modules/systemlib/conversions.c
index ac94252c5..9105d83cb 100644
--- a/src/modules/systemlib/conversions.c
+++ b/src/modules/systemlib/conversions.c
@@ -55,100 +55,3 @@ int16_t_from_bytes(uint8_t bytes[])
 
 	return u.w;
 }
-
-void rot2quat(const float R[9], float Q[4])
-{
-	float q0_2;
-	float q1_2;
-	float q2_2;
-	float q3_2;
-	int32_t idx;
-
-	/* conversion of rotation matrix to quaternion
-	 * choose the largest component to begin with */
-	q0_2 = (((1.0F + R[0]) + R[4]) + R[8]) / 4.0F;
-	q1_2 = (((1.0F + R[0]) - R[4]) - R[8]) / 4.0F;
-	q2_2 = (((1.0F - R[0]) + R[4]) - R[8]) / 4.0F;
-	q3_2 = (((1.0F - R[0]) - R[4]) + R[8]) / 4.0F;
-
-	idx = 0;
-
-	if (q0_2 < q1_2) {
-		q0_2 = q1_2;
-
-		idx = 1;
-	}
-
-	if (q0_2 < q2_2) {
-		q0_2 = q2_2;
-		idx = 2;
-	}
-
-	if (q0_2 < q3_2) {
-		q0_2 = q3_2;
-		idx = 3;
-	}
-
-	q0_2 = sqrtf(q0_2);
-
-	/* solve for the remaining three components */
-	if (idx == 0) {
-		q1_2 = q0_2;
-		q2_2 = (R[5] - R[7]) / 4.0F / q0_2;
-		q3_2 = (R[6] - R[2]) / 4.0F / q0_2;
-		q0_2 = (R[1] - R[3]) / 4.0F / q0_2;
-
-	} else if (idx == 1) {
-		q2_2 = q0_2;
-		q1_2 = (R[5] - R[7]) / 4.0F / q0_2;
-		q3_2 = (R[3] + R[1]) / 4.0F / q0_2;
-		q0_2 = (R[6] + R[2]) / 4.0F / q0_2;
-
-	} else if (idx == 2) {
-		q3_2 = q0_2;
-		q1_2 = (R[6] - R[2]) / 4.0F / q0_2;
-		q2_2 = (R[3] + R[1]) / 4.0F / q0_2;
-		q0_2 = (R[7] + R[5]) / 4.0F / q0_2;
-
-	} else {
-		q1_2 = (R[1] - R[3]) / 4.0F / q0_2;
-		q2_2 = (R[6] + R[2]) / 4.0F / q0_2;
-		q3_2 = (R[7] + R[5]) / 4.0F / q0_2;
-	}
-
-	/* return values */
-	Q[0] = q1_2;
-	Q[1] = q2_2;
-	Q[2] = q3_2;
-	Q[3] = q0_2;
-}
-
-void quat2rot(const float Q[4], float R[9])
-{
-	float q0_2;
-	float q1_2;
-	float q2_2;
-	float q3_2;
-
-	memset(&R[0], 0, 9U * sizeof(float));
-
-	q0_2 = Q[0] * Q[0];
-	q1_2 = Q[1] * Q[1];
-	q2_2 = Q[2] * Q[2];
-	q3_2 = Q[3] * Q[3];
-
-	R[0] = ((q0_2 + q1_2) - q2_2) - q3_2;
-	R[3] = 2.0F * (Q[1] * Q[2] - Q[0] * Q[3]);
-	R[6] = 2.0F * (Q[1] * Q[3] + Q[0] * Q[2]);
-	R[1] = 2.0F * (Q[1] * Q[2] + Q[0] * Q[3]);
-	R[4] = ((q0_2 + q2_2) - q1_2) - q3_2;
-	R[7] = 2.0F * (Q[2] * Q[3] - Q[0] * Q[1]);
-	R[2] = 2.0F * (Q[1] * Q[3] - Q[0] * Q[2]);
-	R[5] = 2.0F * (Q[2] * Q[3] + Q[0] * Q[1]);
-	R[8] = ((q0_2 + q3_2) - q1_2) - q2_2;
-}
-
-float get_air_density(float static_pressure, float temperature_celsius)
-{
-	return static_pressure / (CONSTANTS_AIR_GAS_CONST * (temperature_celsius - CONSTANTS_ABSOLUTE_NULL_CELSIUS));
-}